version: 66.03
glider: 114
mission: 3
dive: 241
start: 10 25 108 10 10 53
data:
$ID,114
$MISSION,3
$DIVE,241
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,220
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52448
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2110
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-596423
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,420
$VBD_MAX,3949
$C_VBD,2733
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017500001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-9.99016
$PRESSURE_SLOPE,0.000116376
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044130804
$SEABIRD_T_H,0.00065298093
$SEABIRD_T_I,2.7242255e-05
$SEABIRD_T_J,2.9466562e-06
$SEABIRD_C_G,-10.002422
$SEABIRD_C_H,1.1227361
$SEABIRD_C_I,-0.0011729589
$SEABIRD_C_J,0.00016786551
$GPS1,100408,2107.761,-15750.261,37,1.2,37,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.9
$GPS2,100956,2107.724,-15750.311,9,1.1,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.172,-0.156
$KALMAN_X,-63011.5,-217.8,-50.6,68920.7,-1031.5
$KALMAN_Y,-53621.6,35.5,-124.7,37318.4,-76.2
$MHEAD_RNG_PITCHd_Wd,122.5,11598,-11.5,-6.818
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.06,-165.5,0.0,0.0,0,102,0.00,0.00,-70.28,0.000,2,0.000,0.000,408,2068,2801
$GC,106,-1.06,-165.5,3.0,-3.3,13,136,11.93,2.50,-10.55,0.000,4,0.156,0.047,2539,633,3410
$GC,178,-1.17,-165.5,16.2,-9.2,25,184,0.00,2.33,0.00,0.000,6,0.000,0.021,2539,2024,3410
$GC,449,-1.23,-165.5,41.9,-9.4,62,453,0.12,2.45,0.00,0.000,4,0.061,0.035,2509,3444,3410
$GC,557,-1.33,-165.5,51.9,-7.9,71,561,0.00,2.38,0.00,0.000,6,0.000,0.023,2509,2031,3410
$GC,819,-1.37,-165.5,74.0,-8.2,95,821,0.12,0.00,0.00,0.000,6,0.058,0.000,2477,2031,3410
$GC,1074,-1.37,-165.5,97.4,-8.5,119,1078,0.00,2.45,0.00,0.000,4,0.000,0.035,2477,3446,3410
$GC,1151,-1.45,-165.5,103.9,-7.7,125,1158,0.00,2.38,0.00,0.000,6,0.000,0.024,2477,2028,3410
$GC,1477,-1.45,-165.5,129.2,-7.1,156,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2027,3410
$GC,1799,-1.49,-165.5,152.0,-6.2,186,1804,0.10,2.45,0.00,0.000,4,0.064,0.034,2451,3445,3410
$GC,1898,-1.55,-165.5,160.4,-8.4,194,1902,0.00,2.38,0.00,0.000,6,0.000,0.025,2451,2036,3410
$GC,2223,-1.55,-165.5,187.5,-7.8,224,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2036,3410
$GC,2537,-1.55,-165.5,216.3,-10.3,246,2541,0.00,2.42,0.00,0.000,4,0.000,0.037,2450,3434,3410
$GC,2571,-1.59,-165.5,219.9,-9.9,247,2580,0.00,2.35,0.00,0.000,6,0.000,0.025,2451,2040,3410
$GC,2888,-1.63,-165.5,248.6,-8.1,263,2892,0.12,2.45,0.00,0.000,4,0.061,0.037,2418,3447,3410
$GC,2906,-1.63,-165.5,250.3,-8.1,264,2910,0.00,2.40,0.00,0.000,6,0.000,0.026,2418,2034,3410
$GC,3235,-1.63,-165.5,280.1,-9.5,280,3239,0.00,2.45,0.00,0.000,4,0.000,0.038,2418,3439,3410
$GC,3291,-1.63,-165.5,285.8,-9.4,282,3297,0.00,2.38,0.00,0.000,6,0.000,0.027,2418,2038,3410
$GC,3625,-1.63,-165.5,314.4,-8.0,295,3629,0.00,2.45,0.00,0.000,4,0.000,0.040,2418,3438,3407
$GC,3692,-1.63,-165.5,319.1,-6.7,296,3697,0.00,2.40,0.00,0.000,6,0.000,0.029,2418,2035,3407
$GC,4032,-1.63,-165.5,342.5,-7.3,305,4036,0.00,2.45,0.00,0.000,4,0.000,0.041,2418,3433,3404
$GC,4055,-1.63,-165.5,344.4,-7.5,305,4059,0.00,2.40,0.00,0.000,6,0.000,0.029,2418,2030,3404
$GC,4392,-1.63,-165.5,369.9,-7.6,314,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2030,3402
$GC,4719,-1.63,-165.5,397.1,-8.6,322,4723,0.00,2.47,0.00,0.000,4,0.000,0.043,2418,3433,3399
$GC,4786,-1.66,-165.5,403.4,-9.0,323,4791,0.00,2.40,0.00,0.000,6,0.000,0.031,2418,2037,3399
$GC,5124,-1.66,-165.5,429.2,-7.3,332,5127,0.00,2.47,0.00,0.000,4,0.000,0.050,2416,634,3397
$GC,5146,-1.66,-165.5,431.1,-8.3,332,5151,0.00,2.40,0.00,0.000,6,0.000,0.031,2417,2030,3397
$STATE,5405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5405,begin apogee
$GC,5414,-0.33,0.0,452.0,7.8,339,5546,1.38,0.00,129.00,0.927,6,0.088,0.000,2703,1934,2733
$STATE,5547,end apogee,CONTROL_FINISHED_OK
$STATE,5547,begin climb
$GC,5550,1.06,165.5,457.8,0.0,342,5691,1.40,2.65,130.25,0.902,4,0.052,0.044,3010,3355,2057
$GC,5891,0.55,165.5,430.8,14.0,349,5898,0.60,2.47,0.00,0.000,6,0.124,0.034,2901,1953,2056
$GC,6224,0.29,180.6,405.2,6.4,358,6243,0.28,2.62,12.12,0.886,4,0.120,0.054,2846,546,1995
$GC,6284,0.19,241.3,402.0,5.0,359,6339,0.12,2.47,47.60,0.888,6,0.125,0.030,2825,1964,1748
$GC,6680,0.13,273.7,380.4,5.9,369,6711,0.00,2.53,25.98,0.888,4,0.000,0.045,2825,3350,1617
$GC,6764,0.09,307.0,375.1,5.8,371,6798,0.12,2.47,26.55,0.882,6,0.116,0.035,2804,1950,1481
$GC,7131,0.05,321.5,352.7,6.4,380,7145,0.00,0.00,11.93,0.878,6,0.000,0.000,2804,1950,1422
$GC,7456,0.03,347.2,333.0,6.1,388,7481,0.00,2.55,20.67,0.873,4,0.000,0.041,2804,3353,1317
$GC,7540,-0.00,347.2,327.6,6.9,390,7544,0.12,2.47,0.00,0.000,6,0.112,0.032,2781,1939,1317
$GC,7864,-0.00,347.2,306.9,7.0,398,7868,0.00,2.53,0.00,0.000,4,0.000,0.041,2782,3361,1316
$GC,7920,-0.00,347.2,302.4,8.2,399,7924,0.00,2.47,0.00,0.000,6,0.000,0.031,2781,1941,1317
$GC,8252,-0.00,347.2,277.5,7.2,414,8256,0.00,2.50,0.00,0.000,4,0.000,0.039,2782,3354,1316
$GC,8285,-0.00,347.2,275.1,7.1,415,8291,0.00,2.45,0.00,0.000,6,0.000,0.031,2782,1944,1317
$GC,8602,-0.00,347.2,253.5,7.0,431,8606,0.00,2.50,0.00,0.000,4,0.000,0.038,2781,3363,1316
$GC,8642,-0.00,347.2,250.6,7.3,433,8646,0.00,2.47,0.00,0.000,6,0.000,0.031,2781,1939,1317
$GC,8970,0.07,385.3,229.6,5.7,449,9009,0.00,2.58,30.30,0.806,4,0.000,0.037,2781,3348,1161
$GC,9027,0.19,439.0,226.7,5.2,451,9075,0.17,2.45,42.15,0.790,6,0.065,0.029,2820,1945,942
$GC,9387,0.12,439.0,198.4,8.5,469,9392,0.00,2.50,0.00,0.000,4,0.000,0.038,2820,3361,943
$GC,9450,0.12,439.0,193.3,7.3,474,9455,0.00,2.45,0.00,0.000,6,0.000,0.029,2820,1948,943
$GC,9778,0.08,439.0,166.7,9.3,504,9783,0.12,2.47,0.00,0.000,4,0.100,0.036,2797,3360,943
$GC,9824,0.12,439.0,162.6,8.1,507,9829,0.00,2.42,0.00,0.000,6,0.000,0.028,2797,1950,943
$GC,10152,0.19,477.4,140.7,5.7,538,10188,0.12,2.53,30.12,0.706,4,0.067,0.035,2827,3358,786
$GC,10219,0.16,477.4,135.8,7.7,544,10223,0.00,2.45,0.00,0.000,6,0.000,0.027,2827,1946,786
$GC,10547,0.16,477.4,111.9,7.3,574,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1946,786
$GC,10873,0.16,477.4,86.2,8.1,605,10877,0.00,2.45,0.00,0.000,4,0.000,0.035,2827,3358,786
$GC,10936,0.23,477.4,81.5,7.5,610,10942,0.00,2.42,0.00,0.000,6,0.000,0.025,2827,1934,787
$GC,11265,0.29,477.4,57.5,8.1,641,11269,0.00,2.45,0.00,0.000,4,0.000,0.033,2826,3358,787
$GC,11317,0.39,477.4,53.6,7.3,645,11322,0.17,2.40,0.00,0.000,6,0.057,0.025,2870,1949,788
$GC,11584,0.36,477.4,32.4,7.1,669,11588,0.00,2.45,0.00,0.000,4,0.000,0.043,2869,543,788
$GC,11595,0.34,486.2,31.2,6.6,669,11613,0.00,2.38,8.32,0.586,6,0.000,0.021,2870,1973,749
$GC,11883,0.30,486.2,7.0,9.8,718,11890,0.12,2.35,0.00,0.000,4,0.097,0.032,2845,3354,750
$STATE,11912,end climb,SURFACE_DEPTH_REACHED
$STATE,11912,begin surface coast
$FINISH,3.5,1.023017
$STATE,11935,end surface coast,CONTROL_FINISHED_OK
$STATE,11935,begin surface
$SM_CCo,12021,0.00,0.000,0,0,751,485.94
$SM_GC,1.74,10.98,0.00,0.00,0.053,0.000,0.000,411,2030,751,-10.86,-0.28,485.94
$IRIDIUM_FIX,2104.07,-15750.02,190198,060610
$TT8_MAMPS,0.026845
$HUMID,1729
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.40
$XPDR_PINGS,6
$24V_AH,23.8,33.611
$10V_AH,10.2,20.650
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.125,127.550,515.000,0.000,0.000,30.461,27.682,152.497,10.500,0.000,0.000,16.435,1332.005,8197.841,581.579,1722.336,537.054,33.369,1442.339,0.000,1687.544,0.000,57.440
$DEVICE_MAMPS,155.701,53.690,927.303,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.521,473.878,861.431,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37941,727
$CAP_FILE_SIZE,109910,0
$CFSIZE,260165632,244662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251008,133223,2106.440,-15750.196,10,3.0,29,9.8